diff --git a/.github/filters.yaml b/.github/filters.yaml
new file mode 100644
index 0000000..fdff690
--- /dev/null
+++ b/.github/filters.yaml
@@ -0,0 +1,27 @@
+# nix updates are common to all workflows
+nix: &nix
+  - "flake.nix"
+  - "flake.lock"
+docs-shell:
+  - *nix
+  - "docs/**/*.nix"
+  - "docs/pyproject/**"
+docs:
+  - "docs/**"
+  - *nix
+  # software paths should only include files which are used by Doxygen
+  - "software/**/*.cpp"
+  - "software/**/*.hpp"
+  - "software/**/*.c"
+  - "software/**/*.h"
+  - "software/**/*.py"
+  - "software/**/*.pyi"
+software:
+  - "software/**"
+  - *nix
+  # ignore script updates
+  - "!software/scripts/**"
+  - "!software/ros_ws/colcon/**"
+  # we don't care about package.xml updates since they don't affect the nix build,
+  # we only care about it when the nix files get updated
+  - "!software/ros_ws/**/package.xml"
diff --git a/.github/workflows/all.yaml b/.github/workflows/all.yaml
new file mode 100644
index 0000000..bea02cf
--- /dev/null
+++ b/.github/workflows/all.yaml
@@ -0,0 +1,103 @@
+name: Nix CI/CD
+on: [push, pull_request, workflow_dispatch]
+permissions:
+  contents: read
+jobs:
+  # get the file changes to filter other jobs
+  changes:
+    name: Detect changes
+    runs-on: ubuntu-latest
+    outputs:
+      software: ${{ steps.filter.outputs.software }}
+      docs: ${{ steps.filter.outputs.docs }}
+      docs-shell: ${{ steps.filter.outputs.docs-shell }}
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dorny/paths-filter@v3
+        id: filter
+        with:
+          filters: .github/filters.yaml
+  format:
+    name: Format and lint
+    # jobs which push to the repo all need to be in this concurrency group
+    concurrency:
+      group: "push"
+    # needed to push changes if needed
+    permissions:
+      contents: write
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: nixbuild/nix-quick-install-action@v29
+      - uses: DeterminateSystems/magic-nix-cache-action@main
+      - name: Format and lint repository
+        run: nix fmt
+      - uses: stefanzweifel/git-auto-commit-action@v5
+        # don't want to run the commit action on pull request workflows (ie, after the merge commit), only on push
+        # note: this applies to all push workflows, not just this job
+        if: ${{ github.event_name != 'pull_request' }}
+        with:
+          commit_message: "Run format and lint"
+  docs-shell:
+    runs-on: ubuntu-latest
+    if: ${{ needs.changes.outputs.docs-shell == 'true' }}
+    needs: [changes, format]
+    steps:
+      - uses: actions/checkout@v4
+      - uses: nixbuild/nix-quick-install-action@v29
+      - uses: DeterminateSystems/magic-nix-cache-action@main
+      - name: Upload docs dev shell to Cachix
+        run: nix run -L .#scripts.cachix.docs-shell
+    env:
+      CACHIX_AUTH_TOKEN: ${{ secrets.CACHIX_AUTH_TOKEN }}
+  docs:
+    runs-on: ubuntu-latest
+    if: ${{ needs.changes.outputs.docs == 'true' }}
+    needs: [changes, format, docs-shell]
+    steps:
+      - uses: actions/checkout@v4
+      - uses: nixbuild/nix-quick-install-action@v29
+      - uses: DeterminateSystems/magic-nix-cache-action@main
+      - name: Build docs
+        run: nix build -L .#docs
+      # From here, deploying to the website repo
+      - name: Checkout website repo
+        # only run on origin main branch
+        if: ${{ (github.event_name != 'pull_request') && (github.repository == 'ROAR-QUTRC/perseus-v2') && (github.ref == 'refs/heads/main') }}
+        id: checkout-website
+        uses: actions/checkout@v4
+        with:
+          repository: ROAR-QUTRC/roar-qutrc.github.io
+          ssh-key: ${{ secrets.DOCS_DEPLOY_KEY }}
+          path: docs
+      - name: Update docs in checked out repo
+        if: ${{ steps.checkout-website.outcome == 'success' }}
+        run: |
+          rm -rf docs/*
+          cp -a result/html/. docs/
+      - uses: stefanzweifel/git-auto-commit-action@v5
+        name: Commit and push changes
+        if: ${{ steps.checkout-website.outcome == 'success' }}
+        with:
+          commit_message: "Update generated docs"
+          repository: ./docs
+  build:
+    runs-on: ubuntu-latest
+    if: ${{ needs.changes.outputs.software == 'true' }}
+    needs: [changes, format]
+    steps:
+      - uses: actions/checkout@v4
+      - uses: nixbuild/nix-quick-install-action@v29
+      - uses: DeterminateSystems/magic-nix-cache-action@main
+      - name: Build repository
+        run: nix build -L
+      - name: Upload build to Cachix
+        run: nix run -L .#scripts.cachix.build
+      - name: Test dev shell
+        run: nix develop -L -c echo 'Shell test success'
+      - name: Upload dev shell to Cachix
+        run: nix run -L .#scripts.cachix.shell
+      - name: Run flake checks
+        run: nix flake check -L
+    env:
+      CACHIX_AUTH_TOKEN: ${{ secrets.CACHIX_AUTH_TOKEN }}
diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
deleted file mode 100644
index bf0c821..0000000
--- a/.github/workflows/build.yaml
+++ /dev/null
@@ -1,41 +0,0 @@
-# Workflow to build the repo, run tests, and push the binaries to Cachix
-name: Build repo and run tests
-on:
-  push:
-    # no point rebuilding if the code doesn't change
-    paths:
-      - "software/**"
-      - "flake.nix"
-      - "flake.lock"
-      # ignore script updates
-      - "!software/scripts/**"
-      - "!software/ros_ws/colcon/**"
-      # we don't care about package.xml updates since they don't affect the nix build,
-      # we only care about it when the nix files get updated
-      - "!software/ros_ws/**/package.xml"
-      # launch files don't affect the tests
-      - "!software/ros_ws/**/launch/**"
-  # Allows you to run this workflow manually from the Actions tab
-  workflow_dispatch:
-jobs:
-  run-build:
-    concurrency:
-      group: "build"
-      cancel-in-progress: true
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - uses: nixbuild/nix-quick-install-action@v29
-      - uses: DeterminateSystems/magic-nix-cache-action@main
-      - name: Build repository
-        run: nix build -L
-      - name: Run flake checks
-        run: nix flake check -L
-      - name: Upload build to Cachix
-        run: nix run -L .#scripts.cachix.build
-      - name: Test dev shell
-        run: nix develop -L -c echo 'Shell test success'
-      - name: Upload dev shell to Cachix
-        run: nix run -L .#scripts.cachix.shell
-    env:
-      CACHIX_AUTH_TOKEN: ${{ secrets.CACHIX_AUTH_TOKEN }}
diff --git a/.github/workflows/deploy-docs.yaml b/.github/workflows/deploy-docs.yaml
deleted file mode 100644
index 98c62be..0000000
--- a/.github/workflows/deploy-docs.yaml
+++ /dev/null
@@ -1,75 +0,0 @@
-# Workflow to build and deploy the docs using a deploy key
-name: Deploy documentation to GH Pages
-on:
-  push:
-    paths:
-      - "docs/**"
-      # software paths should only include files which are used by Doxygen
-      - "software/**/*.cpp"
-      - "software/**/*.hpp"
-      - "software/**/*.c"
-      - "software/**/*.h"
-      - "software/**/*.py"
-      - "software/**/*.pyi"
-      - "flake.nix"
-      - "flake.lock"
-  # Allows you to run this workflow manually from the Actions tab
-  workflow_dispatch:
-# only run one job at a time
-# needed for the intersphinx update
-concurrency:
-  group: "docs"
-  cancel-in-progress: true
-jobs:
-  deploy-docs:
-    # jobs which push to the repo all need to be in this concurrency group
-    concurrency:
-      group: "pushers"
-    permissions:
-      contents: write
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: source
-      - uses: nixbuild/nix-quick-install-action@v29
-      #   - uses: DeterminateSystems/magic-nix-cache-action@main
-      - name: Update intersphinx inventory files
-        # only run intersphinx update on main branch!
-        if: ${{ github.ref == 'refs/heads/main' }}
-        continue-on-error: true # if there are no changes to the files, technically this fails
-        run: |
-          cd source
-          git config user.email "41898282+github-actions[bot]@users.noreply.github.com"
-          git config user.name "github-actions[bot]"
-          nix run .#docs.fetch-inventories
-          git push
-      - name: Build docs
-        run: nix build -L ./source#docs
-      # From here, deploying to the website repo
-      - name: Checkout website repo
-        # only run on origin main branch
-        if: ${{ github.repository == 'ROAR-QUTRC/perseus-v2' && github.ref == 'refs/heads/main' }}
-        id: checkout-website
-        uses: actions/checkout@v4
-        with:
-          repository: ROAR-QUTRC/roar-qutrc.github.io
-          ref: main
-          ssh-key: ${{ secrets.DOCS_DEPLOY_KEY }}
-          path: docs
-      - name: Update docs in checked out repo
-        if: ${{ steps.checkout-website.outcome == 'success' }}
-        run: |
-          rm -rf docs/*
-          # copy from previous nix build
-          cp -a result/html/. docs/
-      - name: Commit and push changes
-        if: ${{ steps.checkout-website.outcome == 'success' }}
-        continue-on-error: true # if there's nothing to push, this step fails
-        run: |
-          cd docs
-          git config user.email "41898282+github-actions[bot]@users.noreply.github.com"
-          git config user.name "github-actions[bot]"
-          git add .
-          git commit -m "$(date +%z:%Y-%m-%dT%H:%M:%S) Automatic docs update"
-          git push
diff --git a/.github/workflows/intersphinx.yaml b/.github/workflows/intersphinx.yaml
new file mode 100644
index 0000000..c1392f3
--- /dev/null
+++ b/.github/workflows/intersphinx.yaml
@@ -0,0 +1,23 @@
+on:
+  schedule:
+    # WARNING: When @RandomSpaceship leaves the project, this will need to be updated
+    # see: https://docs.github.com/en/actions/writing-workflows/choosing-when-your-workflow-runs/events-that-trigger-workflows#schedule
+    # note: the time is semi-random
+    - cron: "42 0 * * 1"
+jobs:
+  intersphinx:
+    if: ${{ github.ref == 'refs/heads/main' }}
+    concurrency:
+      group: "push"
+    permissions:
+      contents: write
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: nixbuild/nix-quick-install-action@v29
+      - uses: DeterminateSystems/magic-nix-cache-action@main
+      - name: Update intersphinx inventory files
+        run: nix run .#docs.fetch-inventories
+      - uses: stefanzweifel/git-auto-commit-action@v5
+        with:
+          commit_message: "Update intersphinx inventory files"
diff --git a/.github/workflows/lint.yaml b/.github/workflows/lint.yaml
deleted file mode 100644
index 16fd0a9..0000000
--- a/.github/workflows/lint.yaml
+++ /dev/null
@@ -1,32 +0,0 @@
-# Workflow to format + lint the repo
-name: Format and lint repository
-on:
-  # Run on any push - we always want the code formatted!
-  push:
-  # Allows you to run this workflow manually from the Actions tab
-  workflow_dispatch:
-# only run one job at a time
-concurrency:
-  group: "format"
-  cancel-in-progress: true
-jobs:
-  run-format:
-    # jobs which push to the repo all need to be in this concurrency group
-    concurrency:
-      group: "pushers"
-    # needed to push changes if needed
-    permissions:
-      contents: write
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - uses: nixbuild/nix-quick-install-action@v29
-      - uses: DeterminateSystems/magic-nix-cache-action@main
-      - name: Format and lint repository
-        run: nix fmt
-      - name: Push changes
-        continue-on-error: true # if there are no changes to the files, technically this fails
-        run: |
-          git config user.email "41898282+github-actions[bot]@users.noreply.github.com"
-          git config user.name "github-actions[bot]"
-          git push